#ifndef _DJI_MOT_H
#define _DJI_MOT_H

#include "main.h"
#include "fdcan.h"

typedef struct
{
    uint8_t id;
    int16_t angle;
    int16_t last_angle;
    int16_t rpm;
    int16_t current;
    int16_t tx_data;        /*-10000~10000 对应10A电流*/
    int16_t round;
    int16_t offset_angle;
    // int16_t temp;
    int64_t totall_angle;
    FDCAN_HandleTypeDef *canhandle;
    int64_t target_angle;
    // struct DJ_Motor *next;
}DJ_Motor;
extern DJ_Motor Claw_Motor[5];//使用fdcan3
extern DJ_Motor Arm_Motor[5];//使用fdcan2
extern DJ_Motor Chassis_Motor[2];//使用fdcan1          1.2使用邮箱1
void DJI_Init();;
void Claw_Send(void);
void Chassis_Send(void);
void Arm_Send(void);

#endif